IAI America XSEL-S - Manual (Page 365)

Chapter 6 Parameter
6.3.2 For XSEL-RX/SX, RXD/SXD
357
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
No. Parameter name
Default value
(reference)
Input range Unit Remarks No.
11
ABS Reset Position
Movement /
Home-Return End
Search Direction Select
0 0 0 to 1
0: Coordinate negative end
1: Coordinate positive end
12 Home preset value
90000,
0,
0,
-90000
0
-99999999
to
99999999
0.001mm
0.001deg
13
SIO�PIO ABS Reset
Position Movement /
Home-Return Order
0 0 0 to 16
Executed from smaller
14 Home position check
sensor input polarity
0 0 0 to 2
0: Unused, 1: Contact a, 2: Contact b
15 Overrun Sensor Input
Polarity
0 0 0 to 2
0: Unused, 1: Contact a, 2: Contact b
16 Creep Sensor Input
Polarity
0 0 0 to 2
0: Unused, 1: Contact a, 2: Contact b
17
ABS Reset Position
Movement / Initial Home
Sensor Escape Velocity
in Home-Return
10 10 1 to 100 mm/sec
18
ABS Reset Position
Movement / Creep
Velocity in Home-Return
100 100 1 to 500 mm/sec
End search velocity in creep sensor
non-detecting area when using creep
sensor
19
ABS Reset Position
Movement / End Search
Velocity in Home-Return
3,
3,
20,
10
20 1 to 100 mm/sec
20
ABS Reset Position
Movement / Z-Phase
Search Velocity in
Home-Return
3 3 1 to 10 mm/sec
Attention needed due to limitations caused
by number of lead encoder pulses
21
ABS Reset Position
Movement / Offset
Movement in
Home-Return
0 1000
-99999999
to
99999999
0.001mm
Offset movement amount from the
Z-phase ideal position
(Positive value = direction to go against
the end) (Refer to Each Axis Parameter
No. 76.)
* Caution for ABS Encoder
There is a concern that the coordinate
may get misaligned for the amount of a
Z-phase pulse because it gets to the
servo lock condition on the Z-phase at
ABS reset if a value around multiples of
a Z-phase distance integer (including
offset movement amount 0) is set in this
parameter.
Do not attempt to set a value around
multiples of a Z-phase distance integer.
(Have an enough margin to the
amplitude of the servo system.)
* Set 0 for the wrist axis
22 Z-Phase Position Error
Check Allowable
1000,
1000,
500,
1000
500
0 to
99999999
0.001mm
0.001deg
[SCARA axis]
[Search end (Z-axis (Zc)) or datum
posture (eye mark) (Arm 1 Axis (A1c),
Alarm 2 Axis (A2c), R-axis (Rc))] –
Z-phase actual distance (angle) minimum
allowable
[linear sliding axis]
Minimum allowable actual distance
between an end (mech side or LS) and
Z-phase when rotary encoder
Z-phase search limit when linear encoder
23 Number of Z-Phase in 1
Turn of Encoder
1 1 1 to 8
Only 1 is available to use when ABS
encoder. It is invalid when linear encoder